Active camber for enhancing path following and yaw stability of over-actuated autonomous electric vehicles

Abstract

Active safety systems contribute significantly to the safe driving of autonomous vehicles in hazardous circumstances. However, conventional active safety systems that mainly depend on braking intervention may not yield the desired vehicle behaviour in critical situations where the tyre forces tend to saturate. Over-actuation through individually cambering the wheels provides a possibility of overcoming this difficulty, as extra lateral tyre forces can potentially be produced. This paper presents active camber for improving the path following and yaw stability performance of over-actuated autonomous electric vehicles (AEVs). With a modified Dugoff tyre model, the camber effect on the lateral tyre force is modelled as an effective linear component. The modified tyre model, together with a double-track vehicle model, is utilised for active camber of the AEVs. The camber controller is developed in the framework of model predictive control (MPC), including both actuator- and safety-related constraints. The camber controller is investigated at different camber rates and road friction levels, in terms of path following, yaw stability and vehicle velocity gain.